Danfoss MCO 305 Design Manual page 206

MCO 305 Design Guide
Select Soft zero setting [2] if the encoder is used
by another axis or for some other purpose and it is
not desired to really change the encoder value
when a DEFORIGIN is used. If soft zero setting is
on, then a DEFORIGIN can be used and the new
reported actual position is zero afterwards.
However, the encoder still has its old value (i.e. the
value you can see if you read it by using the
SYSVAR 0x0122022A or similar).
Selection Encoder soft changing and soft zero [3]
gives possibility for bump less changing of feed-
back encoder in software while running and setting
position to zero without loosing actual position.
32-14 Enc.2 node ID
Encoder node ID
Range
1 – 127
Function
Enter the feedback CAN encoder node ID.
32-15 Enc.2 CAN guard
Encoder CAN Guard
Option
Off
On
Function
Feedback CAN encoder guardians can be enabled
or disabled.
Off [0] is the default setting. Select [1] if feedback
CAN encoder should be monitored.
default setting
206
__ Parameter Reference __
127
[0]
[1]
[ ] value for use in communication via serial communication port
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32-3* Encoder 1 - Master
Following parameters configures the interface for
the encoder 1:
32-30 Incremental Signal Type
MENCODERTYPE
Option
None
RS422 (TTL/line driver)
CAN encoder
Function
Specifies type of the incremental encoder connec-
ted to Encoder 1 interface (X56 and X62 if CAN
encoder is used).
Select None [0] if no incremental encoder is
connected.
Select RS422 (TTL/Line driver) [1] if a digital
incremental encoder with an interface according to
RS422 is connected.
Select CAN encoder [3] if an encoder with a MCO
CAN interface is connected.
Using 2-digits parameters allows to assign the
encoder (instead of the previous SWAPMENC
command):
SET MENCODERTYPE 11 or
SET MENCODERTYPE 21
This parameter cannot be selected in the menu; it
is set in the APOSS program.
See sample par. 32-00.
Handling of the automatically generated CAN objects
The necessary CAN objects (PDOs, GUARD-, SYNC-
object) for the information transfer of the actual
position via the bus are generated automatically
and the bus node is also initialized (NMTO). This
object generation, which is done in background,
corresponds basically to the command CANINI. In
contrast to the application object generation using
CANINI the automatic generated objects by
MENCODERTYPE remain untouched even when an
updated CANINI is done by the application later on.
Even a CANDEL –1 command does not delete or
stop the objects, which are automatically estab-
lished by the MENCODERTYPE setting.
[0]
[1]
[3]